Mechanism study for magnetic levitation spherical reluctance driving joint to produce magnetic power and torque

The multi-degree-of-freedom spherical driving joint with direct bearing driven by spherical motor owns high mechanical integrity and has many advantages such as control and trajectory planning. This paper presents a novel multi-degree-of-freedom spherical reluctance driving joint with magnetic levitation, and analyses operation mechanism, and next deduces the joint's magnetic conduction of the gap by means of the way to magnetic segmentation achieves the relationship between electrical and mechanical energy conversion, and then calculates the radial suspension force and the tangential suspension torque which spherical driving joint produces. The simulation experiments show that the system of driving joint has well static and dynamic characteristics.